AC_WPNav: rename some definitions

libraries/AC_WPNav/AC_WPNav.cpp

@@ -76,7 +76,7 @@ AC_WPNav::AC_WPNav(const AP_InertialNav* inav, const AP_AHRS* ahrs, AC_PosContro
     _loiter_step(0),
     _pilot_accel_fwd_cms(0),
     _pilot_accel_rgt_cms(0),
-    _loiter_accel_cms(WPNAV_LOITER_ACCEL_MAX),
+    _loiter_accel_cms(WPNAV_LOITER_ACCEL),
     _wp_last_update(0),
     _wp_step(0),
     _track_length(0.0),
@@ -509,7 +509,7 @@ void AC_WPNav::calculate_wp_leash_length()
     if(pos_delta_unit_z == 0 && pos_delta_unit_xy == 0){
         _track_accel = 0;
         _track_speed = 0;
-        _track_leash_length = WPNAV_MIN_LEASH_LENGTH;
+        _track_leash_length = WPNAV_LEASH_LENGTH_MIN;
     }else if(_pos_delta_unit.z == 0){
         _track_accel = _wp_accel_cms/pos_delta_unit_xy;
         _track_speed = _wp_speed_cms/pos_delta_unit_xy;

libraries/AC_WPNav/AC_WPNav.h

@@ -11,17 +11,11 @@
 // loiter maximum velocities and accelerations
 #define WPNAV_ACCELERATION              100.0f      // defines the default velocity vs distant curve.  maximum acceleration in cm/s/s that position controller asks for from acceleration controller
 #define WPNAV_ACCELERATION_MIN           50.0f      // minimum acceleration in cm/s/s - used for sanity checking _wp_accel parameter
-#define WPNAV_ACCEL_MAX                 980.0f      // max acceleration in cm/s/s that the loiter velocity controller will ask from the lower accel controller.
-                                                    // should be 1.5 times larger than WPNAV_ACCELERATION.
-                                                    // max acceleration = max lean angle * 980 * pi / 180.  i.e. 23deg * 980 * 3.141 / 180 = 393 cm/s/s
 
-#define WPNAV_LOITER_SPEED              500.0f      // maximum default loiter speed in cm/s
+#define WPNAV_LOITER_SPEED              500.0f      // default loiter speed in cm/s
 #define WPNAV_LOITER_SPEED_MIN          100.0f      // minimum loiter speed in cm/s
-#define WPNAV_LOITER_ACCEL_MAX          250.0f      // maximum acceleration in loiter mode
+#define WPNAV_LOITER_ACCEL              250.0f      // default acceleration in loiter mode
 #define WPNAV_LOITER_ACCEL_MIN           25.0f      // minimum acceleration in loiter mode
-#define WPNAV_LOITER_SPEED_MAX_TO_CORRECT_ERROR 200.0f      // maximum speed used to correct position error (i.e. not including feed forward)
-
-#define MAX_LEAN_ANGLE                  4500        // default maximum lean angle
 
 #define WPNAV_WP_SPEED                  500.0f      // default horizontal speed betwen waypoints in cm/s
 #define WPNAV_WP_SPEED_MIN              100.0f      // minimum horitzontal speed between waypoints in cm/s
@@ -30,10 +24,9 @@
 #define WPNAV_WP_SPEED_UP               250.0f      // default maximum climb velocity
 #define WPNAV_WP_SPEED_DOWN             150.0f      // default maximum descent velocity
 
-#define WPNAV_ALT_HOLD_P                1.0f        // default throttle controller's altitude hold's P gain.
 #define WPNAV_ALT_HOLD_ACCEL_MAX        250.0f      // hard coded copy of throttle controller's maximum acceleration in cm/s.  To-Do: remove duplication with throttle controller definition
 
-#define WPNAV_MIN_LEASH_LENGTH          100.0f      // minimum leash lengths in cm
+#define WPNAV_LEASH_LENGTH_MIN          100.0f      // minimum leash lengths in cm
 
 #if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
  # define WPNAV_LOITER_UPDATE_TIME      0.020f      // 50hz update rate on high speed CPUs (Pixhawk, Flymaple)